Four-way shuttle vehicle storage method and system based on dynamic access

Abstract

The application relates to the technical field of intelligent storage, and relates to a four-way shuttle vehicle storage method and system based on dynamic access, which comprises the following steps: confirming a shuttle vehicle storage environment based on a shuttle vehicle storage instruction, obtaining a set of goods location information based on a dynamic inventory sensing unit and a storage warehouse, obtaining a plurality of target goods locations based on order demand items and the set of goods location information, calculating a plurality of comprehensive scores of the goods locations based on the plurality of target goods locations, confirming an access location based on the order demand items, obtaining a nearest shuttle vehicle based on the access location, performing path planning based on the nearest shuttle vehicle and the optimal goods location, performing conflict detection on the shortest path based on a real-time path planning unit, storing and taking the goods based on the optimal planning path, and updating the set of goods location information based on the stored and taken goods. The application can improve the efficiency, accuracy and intelligent level of four-way shuttle vehicle storage.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing technology, and in particular to a four-way shuttle warehousing method and system based on dynamic access. Background Technology

[0002] With the development of smart logistics, the dynamic scheduling capability of automated warehouse systems has become a key bottleneck.

[0003] Existing systems often employ fixed partitioning or first-come-first-served strategies, making it difficult to optimize globally based on real-time inventory status and multi-vehicle traffic. This leads to uneven utilization of storage space, frequent path conflicts, and limited system throughput. While some research has been conducted on dynamic scheduling, it often falls short in terms of coordinating dynamic inventory optimization, real-time collision avoidance decisions, and overall system efficiency. Therefore, there is an urgent need for a warehousing system that can simultaneously achieve intelligent allocation of storage space, real-time path planning, and proactive conflict resolution. Summary of the Invention

[0004] This invention provides a four-way shuttle storage method and system based on dynamic access, the main purpose of which is to improve the efficiency, accuracy and intelligence level of four-way shuttle storage.

[0005] To achieve the above objectives, the present invention provides a four-way shuttle storage method based on dynamic access, comprising:

[0006] Confirm receipt of shuttle storage instruction, confirm shuttle storage environment based on shuttle storage instruction, wherein the shuttle storage environment includes shuttle storage system, storage warehouse and external order, and shuttle storage system includes inventory dynamic perception unit, real-time path planning unit and traffic prediction and avoidance unit;

[0007] Based on the aforementioned inventory dynamic sensing unit and storage warehouse, a set of storage location information is obtained, wherein the set of storage location information includes multiple storage location information items. External orders are parsed to obtain one or more order demand items.

[0008] For each of the one or more order requirement items, perform the following operation:

[0009] Based on the order requirements and the location information set, multiple target locations are obtained, a comprehensive score for multiple locations is calculated based on the multiple target locations, and the optimal location is obtained based on the comprehensive score for multiple locations.

[0010] Based on the order requirements, the storage and retrieval location is determined, and the nearest shuttle is obtained based on the storage and retrieval location. Path planning is performed based on the nearest shuttle and the optimal storage location to obtain the shortest path. Conflict detection is performed on the shortest path based on the real-time path planning unit to obtain a conflict risk value.

[0011] If the conflict risk value is greater than the preset risk threshold, then the optimal path planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain the optimal planned path.

[0012] The system acquires goods to be stored or retrieved, stores or retrieves the goods based on the optimal planned path, obtains the stored or retrieved goods, updates the storage location information set based on the stored or retrieved goods, obtains an updated storage location information set, and realizes four-way shuttle warehousing for the external orders and storage warehouse based on the updated storage location information set.

[0013] Optionally, the step of obtaining the location information set based on the inventory dynamic sensing unit and the storage warehouse includes:

[0014] Based on the inventory dynamic sensing unit, the storage warehouse is polled and scanned to obtain multiple storage locations;

[0015] Real-time status queries are performed on the multiple storage locations to obtain multiple storage location information, wherein the storage location information includes storage location coordinates, goods type, inventory quantity, remaining capacity, most recent inbound time, and storage and retrieval frequency;

[0016] By summarizing the information from the multiple storage locations, a storage location information set is obtained.

[0017] Optionally, parsing the external order to obtain one or more order requirement items includes:

[0018] The external order is subjected to text recognition to obtain the external order text;

[0019] Based on the pre-built keyword recognition unit, the external order text is used to perform keyword recognition to obtain multiple demand types, wherein the demand type is an inbound operation or an outbound operation;

[0020] If the demand type is an inbound operation, then the quantity and type of inbound goods are obtained based on the external order text.

[0021] If the demand type is an outbound operation, then obtain the quantity and type of outbound goods;

[0022] By integrating the multiple demand types, inbound goods quantity, outbound goods quantity, inbound goods type, and outbound goods type, one or more order demand items are obtained.

[0023] Optionally, the step of obtaining multiple target storage locations based on the order demand items and the storage location information set, and calculating a comprehensive score for multiple storage locations based on the multiple target storage locations, includes:

[0024] Based on the outbound or inbound goods type, a comparison query is performed in the storage location information set. If the outbound or inbound goods type is the same as the goods type in the storage location information, the storage location corresponding to the storage location information is confirmed as a candidate storage location.

[0025] If the demand type is an outbound operation, then compare the inventory quantity and the outbound goods quantity corresponding to the candidate storage location. If the inventory quantity is greater than the outbound goods quantity, then confirm the candidate storage location as the outbound target storage location.

[0026] If the demand type is an inbound operation, then compare the remaining capacity of the candidate storage location with the quantity of goods to be inbound. If the quantity of goods to be inbound is less than the remaining capacity, then confirm the candidate storage location as the target storage location for inbound.

[0027] By summing up the target outbound or inbound storage locations, multiple target storage locations are obtained.

[0028] For each of the plurality of target storage locations, the following operation shall be performed:

[0029] Based on the location information corresponding to the target location, obtain the inventory quantity, most recent inbound time, historical storage and retrieval frequency, and location coordinates;

[0030] The physical distance is calculated based on the coordinates of the storage location and the preset coordinates of the warehouse entrance and exit. The normalized distance ratio is calculated based on the physical distance and the preset global distance parameter of the warehouse.

[0031] If the order requirement is for an inbound operation, the overall location score is calculated based on the normalized distance ratio, inventory quantity, most recent inbound time, and historical access frequency.

[0032]

[0033] in, This indicates the overall score for the cargo location. Indicates the quantity of inventory. Indicates the maximum capacity of the storage space. Indicates the current system time. Indicates the most recent entry time. Indicates standard time. Indicates the frequency of historical accesses. Represents the normalized distance ratio. , , and Indicates the weighting coefficient for inbound inventory;

[0034] If the order requirement is an outbound operation, the comprehensive location score is calculated based on the normalized distance ratio, inventory quantity, most recent inbound time, and historical access frequency.

[0035]

[0036] in, , , and These represent the outbound weighting coefficients, respectively.

[0037] By summing up the comprehensive scores of the aforementioned storage locations, multiple comprehensive scores for each storage location are obtained.

[0038] Optionally, the step of determining the access location based on the order requirement and obtaining the nearest shuttle based on the access location includes:

[0039] If the demand type of the order demand item is an inbound operation, then the preset goods delivery interface coordinates will be confirmed as the storage and retrieval location.

[0040] If the demand type of the order demand item is an outbound operation, then the storage and retrieval location corresponding to the optimal storage location will be confirmed.

[0041] Obtain multiple shuttle cars, and perform the following operation on each of the multiple shuttle cars:

[0042] The shuttle storage system performs real-time status detection on the shuttle to obtain the current location coordinates and operating status of the vehicle, wherein the operating status includes busy or idle.

[0043] If the operation status is idle, then the shuttle car is confirmed as a candidate shuttle car;

[0044] The actual reachable distance is calculated based on the pre-built track topology map, the current vehicle position coordinates and access positions of the candidate shuttles;

[0045] The actual reachable distances of the candidate shuttles are sorted in ascending order, and the candidate shuttle with the smallest actual reachable distance is selected as the nearest shuttle.

[0046] Optionally, the step of performing route planning based on the nearest shuttle and the optimal cargo location to obtain the shortest path includes:

[0047] If the order requirement is an inbound operation, then the current location coordinates of the vehicle corresponding to the nearest shuttle are determined as the starting point of the path planning, the coordinates of the cargo handover interface are determined as the midpoint of the path planning, and the coordinates of the cargo location corresponding to the optimal cargo location are determined as the ending point of the path planning.

[0048] If the order demand type is outbound operation, then the current location coordinates of the vehicle corresponding to the nearest shuttle are used to determine the starting point of the path planning, the coordinates of the cargo location corresponding to the optimal cargo location are used to determine the midpoint of the path planning, and the coordinates of the cargo handover interface are used to determine the ending point of the path planning.

[0049] The starting point, midpoint, and ending point of the path planning are mapped onto the track topology map to obtain the mapped starting point, midpoint, and ending point;

[0050] The shortest path is obtained by detecting the shortest path between the starting point, midpoint, and ending point of the mapping based on a pre-built graph search algorithm.

[0051] Optionally, the step of performing conflict detection on the shortest path based on the real-time path planning unit to obtain a conflict risk value includes:

[0052] The shortest path is analyzed based on the real-time path planning unit to obtain a path node sequence, wherein the path node sequence contains multiple path nodes.

[0053] Multiple arrival timestamps are calculated based on preset vehicle speed, preset reference time, and path node sequence, and a travel timetable is obtained based on the multiple arrival timestamps.

[0054] Multiple related shuttle vehicles are obtained, and multiple related travel timetables are obtained based on the multiple related shuttle vehicles. The multiple related travel timetables and travel timetables are compared and analyzed based on the real-time route planning unit to obtain multiple potential conflict points.

[0055] Perform the following operations on all potential conflict points among the plurality of potential conflict points:

[0056] Based on potential conflict points, potential conflict vehicles and related conflict schedules are identified. The remaining path length and the remaining related path length are calculated based on the potential conflict vehicles, the current location coordinates of the vehicles, and the potential conflict points. The first arrival time and the second arrival time are obtained based on the travel schedule, the related conflict schedule, and the potential conflict points.

[0057] The conflict risk value is calculated based on the remaining path length, the remaining related path length, the first arrival time, and the second arrival time, using the following formula:

[0058]

[0059] Among them, the Indicates the conflict risk value. Indicates the vehicle's speed. Indicates the speed of the relevant vehicles. Indicates the reference speed. Indicates the remaining path length. Indicates the length of the remaining related paths. Represents the global distance parameter. Indicates the first arrival time. Indicates the second arrival time. Represents a minimal constant. Represents an exponential function. This represents the time decay coefficient.

[0060] Optionally, if the conflict risk value is greater than a preset risk threshold, then based on the traffic prediction and avoidance unit and the nearest shuttle, optimal path planning is performed to obtain the optimal planned path, including:

[0061] If the conflict risk value is greater than the preset risk threshold, then the potential conflict point is confirmed as a conflict point;

[0062] Based on the conflict point, obtain the conflict point coordinates and conflict timestamp. Based on the traffic prediction and avoidance unit, conflict point coordinates and conflict timestamp, perform path replanning to obtain the planning result. The planning result is that there is one or more alternative paths or no alternative paths. If the planning result is that there is one or more alternative paths, calculate the estimated total travel time and update the conflict risk value for each alternative path. If the updated conflict risk value is lower than the risk threshold and the estimated total travel time is the minimum, then the corresponding alternative path is identified as the optimal planning path.

[0063] If the planning result indicates that there is no alternative path, the waiting time is obtained, and the waiting time is inserted before the conflict timestamp based on the shortest path to obtain the optimal planning path.

[0064] Optionally, updating the storage location information set based on the stored and retrieved goods to obtain an updated storage location information set includes:

[0065] If the order requirement is an inbound operation, then the inbound time, type of goods, and quantity of goods are obtained based on the inbound and outbound goods, and the inbound storage location information is obtained based on the inbound time, type of goods, and quantity of goods.

[0066] If the order requirement type is outbound operation, then obtain the outbound storage location information based on the stored and retrieved goods;

[0067] The storage location information set is updated based on the inbound and outbound storage location information to obtain an updated storage location information set.

[0068] To achieve the above objectives, the present invention also provides a four-way shuttle storage system based on dynamic access, comprising:

[0069] The environment confirmation module is used to confirm the receipt of shuttle storage instructions and confirm the shuttle storage environment based on the shuttle storage instructions. The shuttle storage environment includes the shuttle storage system, the storage warehouse and external orders. The shuttle storage system includes an inventory dynamic perception unit, a real-time path planning unit and a traffic prediction and avoidance unit.

[0070] Based on the aforementioned inventory dynamic sensing unit and storage warehouse, a set of storage location information is obtained, wherein the set of storage location information includes multiple storage location information items. External orders are parsed to obtain one or more order demand items.

[0071] The intelligent selection module is used to perform the following operation on each of the one or more order requirement items:

[0072] Based on the order requirements and the location information set, multiple target locations are obtained, a comprehensive score for multiple locations is calculated based on the multiple target locations, and the optimal location is obtained based on the comprehensive score for multiple locations.

[0073] The scheduling and planning module is used to determine the storage and retrieval location based on the order demand item, obtain the nearest shuttle based on the storage and retrieval location, perform path planning based on the nearest shuttle and the optimal storage location to obtain the shortest path, and perform conflict detection on the shortest path based on the real-time path planning unit to obtain a conflict risk value.

[0074] If the conflict risk value is greater than the preset risk threshold, then the optimal path planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain the optimal planned path.

[0075] The task execution module is used to acquire goods to be stored or retrieved, store or retrieve the goods based on the optimal planned path, obtain the stored or retrieved goods, update the storage location information set based on the stored or retrieved goods, obtain an updated storage location information set, and realize four-way shuttle warehousing for the external orders and storage warehouse based on the updated storage location information set.

[0076] To address the above problems, the present invention also provides an electronic device, the electronic device comprising:

[0077] Memory, storing at least one instruction;

[0078] The processor executes the instructions stored in the memory to implement the four-way shuttle storage method based on dynamic access described above.

[0079] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the above-described four-way shuttle storage method based on dynamic access.

[0080] To address the problems described in the background art, this invention confirms the receipt of shuttle warehousing instructions and, based on these instructions, confirms the shuttle warehousing environment. This environment includes a shuttle warehousing system, a storage warehouse, and external orders. The shuttle warehousing system includes an inventory dynamic sensing unit, a real-time path planning unit, and a traffic prediction and avoidance unit. Therefore, this invention considers the complex requirements of warehouse dynamism and order real-time processing in four-way shuttle warehousing. By confirming the warehousing environment, it ensures modular system collaboration, providing a reliable foundation for subsequent dynamic storage and retrieval, thereby improving the overall responsiveness and adaptability of warehouse management. The invention also obtains storage locations based on the inventory dynamic sensing unit and the storage warehouse. The information set, wherein the storage location information set includes multiple storage location information, is used to parse external orders to obtain one or more order demand items. This invention introduces a dynamic sensing mechanism to achieve real-time acquisition of storage location information and fine-grained order parsing, avoiding the lag problem of traditional static inventory, and thus laying an accurate data foundation for demand matching. For each of the one or more order demand items, the following operations are performed: multiple target storage locations are obtained based on the order demand item and the storage location information set; a comprehensive score for multiple storage locations is calculated based on the multiple target storage locations; and the optimal storage location is obtained based on the comprehensive score. This invention selects the optimal storage location through comprehensive scoring, optimizes storage location allocation, and reduces invalid movement. This process improves warehouse space utilization and operational efficiency. Based on the order requirements, the storage and retrieval locations are determined, and the nearest shuttle is obtained. Route planning is performed based on the nearest shuttle and the optimal storage location to obtain the shortest path. The real-time route planning unit performs conflict detection on the shortest path to obtain a conflict risk value. Thus, this embodiment of the invention combines the nearest shuttle and real-time conflict detection to achieve initial path shortening and quantify risk, avoiding congestion caused by blind scheduling, thereby improving the operational reliability and safety of the shuttle. If the conflict risk value exceeds a preset risk threshold, optimal route planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain... The optimal planning path demonstrates how this invention introduces a predictive avoidance mechanism in high-risk situations, dynamically adjusting the path to ensure collision-free multi-vehicle collaboration, thereby reducing operational interruptions and delays. The process involves acquiring goods to be stored or retrieved, storing or retrieving these goods based on the optimal planning path, updating the storage location information set based on the retrieved goods, and finally achieving four-way shuttle warehousing for external orders and storage warehouses. This invention forms a closed-loop feedback loop through storage / retrieval execution and information updates, achieving real-time inventory synchronization. Furthermore, by dynamically optimizing the overall process through storage / retrieval, this invention improves the efficiency, accuracy, and intelligence of four-way shuttle warehousing. Attached Figure Description

[0081] Figure 1 This is a flowchart illustrating a four-way shuttle warehousing method based on dynamic access, provided in an embodiment of the present invention.

[0082] Figure 2 A functional block diagram of a four-way shuttle warehouse system based on dynamic access provided in an embodiment of the present invention;

[0083] Figure 3 This is a schematic diagram of the structure of an electronic device for implementing the four-way shuttle storage method based on dynamic access, as provided in an embodiment of the present invention.

[0084] Explanation of reference numerals in the attached figures:

[0085] 10. Electronic device; 11. Processor; 12. Memory; 13. Bus.

[0086] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0087] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0088] This application provides a four-way shuttle storage method based on dynamic access. The executing entity of the four-way shuttle storage method based on dynamic access includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application embodiment: a server, a terminal, etc. In other words, the four-way shuttle storage method based on dynamic access can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0089] Reference Figure 1 The diagram shown is a flowchart illustrating a four-way shuttle storage method based on dynamic access provided in an embodiment of the present invention. In this embodiment, the four-way shuttle storage method based on dynamic access includes:

[0090] S1. Confirm receipt of shuttle storage instruction, and confirm shuttle storage environment based on shuttle storage instruction. The shuttle storage environment includes shuttle storage system, storage warehouse and external order. The shuttle storage system includes inventory dynamic perception unit, real-time path planning unit and traffic prediction and avoidance unit.

[0091] It should be explained that the "shuttle warehousing instruction" refers to the instruction issued to realize four-way shuttle warehousing; the "shuttle warehousing environment" refers to the necessary environment for realizing four-way shuttle warehousing; the "shuttle warehousing system" refers to a system capable of realizing four-way shuttle warehousing; the shuttle warehousing system includes an inventory dynamic sensing unit, a real-time path planning unit, and a traffic prediction and avoidance unit. For the specific application of these units, please refer to subsequent embodiments. The "storage warehouse" refers to a warehouse used for storing and retrieving goods; the "external order" refers to an order initiated by a demand party outside the warehousing system (such as a customer or production workshop), containing electronic documents or scanned copies of documents related to the storage and retrieval of goods, such as the entry or exit of several parts of a certain type. The purpose of this invention is to improve the flexibility and accuracy of shuttle warehousing.

[0092] For example, Xiao Zhang is a warehouse worker. In order to improve the flexibility and accuracy of shuttle storage, Xiao Zhang issued a shuttle storage instruction and confirmed the shuttle storage environment.

[0093] S2. Based on the inventory dynamic sensing unit and the storage warehouse, obtain a set of storage location information, wherein the set of storage location information includes multiple storage location information, and parse external orders to obtain one or more order demand items.

[0094] Furthermore, the acquisition of the location information set based on the inventory dynamic sensing unit and the storage warehouse includes:

[0095] Based on the inventory dynamic sensing unit, the storage warehouse is polled and scanned to obtain multiple storage locations;

[0096] Real-time status queries are performed on the multiple storage locations to obtain multiple storage location information, wherein the storage location information includes storage location coordinates, goods type, inventory quantity, remaining capacity, most recent inbound time, and storage and retrieval frequency;

[0097] By summarizing the information from the multiple storage locations, a storage location information set is obtained.

[0098] It should be understood that the method of polling and scanning the storage warehouse refers to using the inventory dynamic sensing unit to cyclically query all storage locations within the storage warehouse according to a preset time period. A storage location refers to an area where goods are stored, such as a shelf or a shelf layer. The inventory dynamic sensing unit is a functional module capable of querying and collecting relevant information about each shelf in the storage warehouse in real time. Optionally, the inventory dynamic sensing unit can be constructed using UWB positioning technology, wireless communication, or other technologies. The method of querying the real-time status of the multiple storage locations refers to using a warehouse database system to query the storage status of each storage location. The warehouse database is a pre-built database for recording storage location information, and the storage location information refers to information reflecting the status and associated attributes of a single storage location within the storage warehouse, including storage location coordinates, goods type, inventory quantity, remaining capacity, most recent inbound time, and access frequency. The storage location coordinates refer to the coordinates of the storage location within the storage warehouse, for example, "B-15-04," where "B" represents warehouse area B and "15" represents the area of ​​that warehouse. The 15th shelf, "04" represents the 4th shelf level. The "goods type" refers to the type of goods, such as aluminum plates or instant noodles. The "inventory quantity" refers to the quantity of a certain type of goods in the storage location. In this invention, only goods of the same type will be stored in the storage location. The "remaining capacity" refers to the remaining storage capacity of the storage location. The "last entry time" refers to the time when the goods were last stored or retrieved in the storage location. The "access frequency" refers to the number of times the storage location is accessed or retrieved within a unit of time (e.g., 12 hours). The "storage location information set" refers to the collection of information from multiple storage locations.

[0099] It should be explained that the parsing of external orders to obtain one or more order requirement items includes:

[0100] The external order is subjected to text recognition to obtain the external order text;

[0101] Based on the pre-built keyword recognition unit, the external order text is used to perform keyword recognition to obtain multiple demand types, wherein the demand type is an inbound operation or an outbound operation;

[0102] If the demand type is an inbound operation, then the quantity and type of inbound goods are obtained based on the external order text.

[0103] If the demand type is an outbound operation, then obtain the quantity and type of outbound goods;

[0104] By integrating the multiple demand types, inbound goods quantity, outbound goods quantity, inbound goods type, and outbound goods type, one or more order demand items are obtained.

[0105] Furthermore, the method for text recognition of the external order refers to extracting content from the external order using optical character recognition or natural language processing (NLP), where the external order text refers to the text extracted from the external order. The method for keyword recognition of the external order text refers to using a keyword recognition unit to identify keywords related to the demand type in the external order text. Optionally, the keyword recognition unit can be constructed using the KMP algorithm, and the demand type refers to the specific operation category of goods storage or retrieval in the order. Demand types include inbound operations or outbound operations, where inbound and outbound operations refer to the operations of storing and retrieving goods, respectively. If the demand type is an inbound operation, it indicates that goods of the corresponding type and quantity need to be stored from outside the storage warehouse. The method for obtaining the quantity and type of goods to be stored based on the external order text is similar to the method for keyword recognition of the external order text, and will not be elaborated here. The quantity and type of goods to be stored refer to the quantity and type of goods that need to be stored. If the demand type is an outbound operation, it indicates that the corresponding type and quantity of goods need to be outbound from the storage warehouse. The outbound quantity and outbound type of goods refer to the quantity and type of goods to be outbound, respectively. The method of integrating the multiple demand types, inbound quantity, outbound quantity, inbound type, and outbound type of goods refers to integrating the multiple demand types, inbound quantity, outbound quantity, inbound type, and outbound type of goods into an independent task instruction according to the correspondence in the external order text, in the form of "demand type + inbound quantity + inbound type" or "demand type + inbound quantity + inbound type". The order demand item refers to the task instruction constructed in the above form, which includes operation type, goods type, and operation quantity. The task instruction refers to the instruction to drive the shuttle warehousing system to inbound or outbound the corresponding quantity and type of goods.

[0106] S3. Based on the order requirements and the location information set, obtain multiple target locations, calculate a comprehensive score for multiple locations based on the multiple target locations, and obtain the optimal location based on the comprehensive score for multiple locations.

[0107] It should be understood that the process of obtaining multiple target storage locations based on the order demand items and the storage location information set, and calculating a comprehensive score for multiple storage locations based on the multiple target storage locations, includes:

[0108] Based on the outbound or inbound goods type, a comparison query is performed in the storage location information set. If the outbound or inbound goods type is the same as the goods type in the storage location information, the storage location corresponding to the storage location information is confirmed as a candidate storage location.

[0109] If the demand type is an outbound operation, then compare the inventory quantity and the outbound goods quantity corresponding to the candidate storage location. If the inventory quantity is greater than the outbound goods quantity, then confirm the candidate storage location as the outbound target storage location.

[0110] If the demand type is an inbound operation, then compare the remaining capacity of the candidate storage location with the quantity of goods to be inbound. If the quantity of goods to be inbound is less than the remaining capacity, then confirm the candidate storage location as the target storage location for inbound.

[0111] By summing up the target outbound or inbound storage locations, multiple target storage locations are obtained.

[0112] For each of the plurality of target storage locations, the following operation shall be performed:

[0113] Based on the location information corresponding to the target location, obtain the inventory quantity, most recent inbound time, historical storage and retrieval frequency, and location coordinates;

[0114] The physical distance is calculated based on the coordinates of the storage location and the preset coordinates of the warehouse entrance and exit. The normalized distance ratio is calculated based on the physical distance and the preset global distance parameter of the warehouse.

[0115] If the order requirement is for an inbound operation, the overall location score is calculated based on the normalized distance ratio, inventory quantity, most recent inbound time, and historical access frequency.

[0116]

[0117] in, This indicates the overall score for the cargo location. Indicates the quantity of inventory. Indicates the maximum capacity of the storage space. Indicates the current system time. Indicates the most recent entry time. Indicates standard time. Indicates the frequency of historical accesses. Represents the normalized distance ratio. , , and Indicates the weighting coefficient for inbound inventory;

[0118] If the order requirement is an outbound operation, the comprehensive location score is calculated based on the normalized distance ratio, inventory quantity, most recent inbound time, and historical access frequency.

[0119]

[0120] in, , , and These represent the outbound weighting coefficients, respectively.

[0121] By summing up the comprehensive scores of the aforementioned storage locations, multiple comprehensive scores for each storage location are obtained.

[0122] It should be explained that the method of comparing and querying the location information set based on the outbound or inbound goods type refers to using a string matching algorithm (such as the KMP algorithm) to compare the outbound or inbound goods type in the order demand item with the goods type of each location in the location information set. If there is a complete match, the location is confirmed as a candidate location. A candidate location refers to a location where the goods type has been confirmed to be the same, but the inventory quantity or remaining capacity has not yet been verified to meet the conditions. If the demand type is an outbound operation, the method of comparing the inventory quantity and outbound goods quantity corresponding to the candidate location refers to determining whether the inventory quantity is greater than or equal to the outbound goods quantity. If so, it is confirmed as the outbound target location. The outbound target location refers to a location with sufficient inventory and ready for direct outbound shipment. If the demand type is an inbound operation, the method of comparing the remaining capacity and inbound goods quantity corresponding to the candidate location refers to determining whether the remaining capacity is greater than or equal to the inbound goods quantity. If so, it is confirmed as the inbound target location. The inbound target location refers to a location with sufficient space and ready for direct inbound shipment. The method of summarizing the outbound or inbound target storage locations refers to aggregating all eligible outbound or inbound storage locations. The multiple target storage locations refer to the final set of storage locations selected for storage and retrieval operations. The method of obtaining inventory quantity, most recent inbound time, historical storage and retrieval frequency, and storage location coordinates based on the storage location information corresponding to the target storage location refers to extracting relevant fields from the storage location information. The inventory quantity refers to the quantity of goods at the target storage location that are the same type of goods as those in the order requirements for outbound or inbound goods. The most recent inbound time, historical storage and retrieval frequency, and storage location coordinates refer to the time of the most recent goods storage or retrieval at the target storage location, the number of times the target storage location was accessed or retrieved within a unit of time (e.g., 12 hours), and the coordinates of the target storage location in the storage warehouse, respectively. The method of calculating the physical distance based on the storage location coordinates and the preset warehouse entrance / exit coordinates refers to using the Euclidean distance formula to calculate the straight-line distance from the target storage location to the warehouse entrance / exit. The physical distance refers to the actual spatial distance between the target storage location and the entrance / exit. The method for calculating the normalized distance ratio based on the physical distance and the preset global warehouse distance parameter refers to dividing the physical distance by the global warehouse distance parameter (the maximum diagonal distance of the warehouse) to obtain a normalized value between 0 and 1. The normalized distance ratio is a standardized distance indicator, facilitating score integration. The preset global warehouse distance parameter refers to the maximum spatial scale of the warehouse, with a default value being the Pythagorean theorem sum of the warehouse length and width. The comprehensive warehouse location score refers to the numerical value quantifying the quality of warehouse locations calculated using the two formulas under different conditions. If the order requirement type is an inbound operation, then in the formula... It is the ratio of the current inventory level of a storage location to its maximum capacity. The closer it is to 1, the fuller it is. The larger the number of storage spaces, the more available space there is, which is more conducive to storage. Also, because... The smaller (i.e.) (The larger) and The larger the value, the more frequently the target storage location is used (the goods in the target storage location may be more popular), which is more conducive to improving storage efficiency. The smaller (i.e.) The higher the overall score, the shorter the distance between the target location and the warehouse entrance / exit, and the lower the handling cost. Therefore, in summary, the higher the overall score of the storage location, the more conducive it is to inbound operations, and the better the corresponding target storage location. If the demand type of the order requirement item is outbound operation, then... The larger the number, the fuller the storage space, making it more suitable for outbound shipments. The larger and The smaller (i.e.) The larger the value, the longer the goods have been stored in the warehouse, and the more likely they should be released. The smaller (i.e.) The higher the overall score, the shorter the transport distance from the target location to the warehouse entrance / exit, and the lower the transport cost. Therefore, in summary, the higher the overall score of the location, the more conducive it is to outbound operations, and the better the corresponding target location. The adaptive allocation unit refers to the module that adaptively calculates the score based on dynamic factors. The maximum capacity of the maximum location shown refers to the design capacity of a single location. The current system time refers to the current system clock time. The standard time refers to a preset time, such as 24 hours. The inbound weight coefficient and outbound weight coefficient refer to the preset adjustment parameters in the corresponding formulas, with a default value of 0.25, which can be adjusted according to the actual warehouse scenario. The method of sorting the overall scores of the multiple locations refers to using a sorting algorithm (such as quicksort) to sort the overall scores of the multiple locations in descending order, and selecting the location corresponding to the highest overall score as the optimal location. The optimal location is the location with the highest overall score and the most suitable for the current order requirements.

[0123] For example, the order requirement type is outbound operation, the outbound goods type is "aluminum plate", and the outbound goods quantity is 50 pieces. The location information set yields 3 candidate locations with corresponding location coordinates of "A-10-03", "B-15-04" and "C-16-01", and inventory quantities of 60, 70 and 55 pieces, respectively. The comprehensive location scores are calculated to be 0.8, 0.9 and 0.75, respectively. The highest score after sorting is 0.9. Therefore, the location with coordinates "B-15-04" is confirmed as the optimal location.

[0124] S4. Based on the order requirements, the storage and retrieval location is determined, and the nearest shuttle is obtained based on the storage and retrieval location. Path planning is performed based on the nearest shuttle and the optimal storage location to obtain the shortest path. Conflict detection is performed on the shortest path based on the real-time path planning unit to obtain a conflict risk value.

[0125] Furthermore, the step of determining the access location based on the order requirement and obtaining the nearest shuttle based on the access location includes:

[0126] If the demand type of the order demand item is an inbound operation, then the preset goods delivery interface coordinates will be confirmed as the storage and retrieval location.

[0127] If the demand type of the order demand item is an outbound operation, then the storage and retrieval location corresponding to the optimal storage location will be confirmed.

[0128] Obtain multiple shuttle cars, and perform the following operation on each of the multiple shuttle cars:

[0129] The shuttle storage system performs real-time status detection on the shuttle to obtain the current location coordinates and operating status of the vehicle, wherein the operating status includes busy or idle.

[0130] If the operation status is idle, then the shuttle car is confirmed as a candidate shuttle car;

[0131] The actual reachable distance is calculated based on the pre-built track topology map, the current vehicle position coordinates and access positions of the candidate shuttles;

[0132] The actual reachable distances of the candidate shuttles are sorted in ascending order, and the candidate shuttle with the smallest actual reachable distance is selected as the nearest shuttle.

[0133] It should be understood that the method of confirming the preset goods handover interface coordinates as the storage and retrieval location means that if the demand type of the order item is an inbound operation, the preset goods handover point in the warehouse is selected as the storage and retrieval location. The goods handover interface coordinates refer to the coordinates of a fixed location in the warehouse, used as the starting point or transit point when goods are put into storage. The method of confirming the storage and retrieval location with the coordinates of the optimal storage location means that if the demand type of the order item is an outbound operation, the optimal storage location coordinates are used as the storage and retrieval location, used as the target point when goods are taken out of storage. The storage and retrieval location refers to the specific coordinate point where the shuttle car performs the storage and retrieval operation. The method of obtaining multiple shuttle cars means querying all available shuttle cars from the shuttle car warehousing system. The multiple shuttle cars refer to the four-way shuttle cars deployed in the warehouse. The method of real-time status detection of shuttle cars based on the shuttle car warehousing system means obtaining the current position coordinates and operating status of the vehicle through the position sensor and wireless communication device on the shuttle car. The current position coordinates of the vehicle refer to the current track position of the shuttle car, and the operating status refers to whether the vehicle is performing a task (busy) or available (idle). If the operation status is idle, it indicates that the vehicle is available. The method of confirming the shuttle as a candidate shuttle refers to screening idle vehicles as candidate shuttles. The candidate shuttle refers to a vehicle that can be immediately assigned a task. The method of calculating the actual reachable distance based on the pre-built track topology map, the current position coordinates of the vehicle corresponding to the candidate shuttle, and the access position refers to using a graph algorithm (such as Dijkstra's algorithm) to confirm the shortest track path from the current position to the access position on the track topology map, and then calculating the actual distance of the shortest track path according to the mapping relationship between the track topology map and the actual distance of the warehouse track. The mapping relationship refers to the ratio of the distance conversion between the track topology map and the actual warehouse track. For example, 1 unit distance (in the track topology map) = 1 meter (actual distance). The actual reachable distance refers to the actual path length calculated considering track constraints. The track topology map refers to the graph model of the warehouse track, including nodes representing various positions (such as the position of the storage location or the position of the corner) and edges representing the warehouse track. The method of sorting the actual reachable distances of the candidate shuttles in ascending order and selecting the shuttle with the smallest actual reachable distance as the nearest shuttle means selecting the shuttle with the smallest actual reachable distance after sorting. The nearest shuttle is the idle shuttle that is closest to the access location.

[0134] It should be explained that the process of calculating the shortest path based on the nearest shuttle and the optimal cargo location includes:

[0135] If the order requirement is an inbound operation, then the current location coordinates of the vehicle corresponding to the nearest shuttle are determined as the starting point of the path planning, the coordinates of the cargo handover interface are determined as the midpoint of the path planning, and the coordinates of the cargo location corresponding to the optimal cargo location are determined as the ending point of the path planning.

[0136] If the order demand type is outbound operation, then the current location coordinates of the vehicle corresponding to the nearest shuttle are used to determine the starting point of the path planning, the coordinates of the cargo location corresponding to the optimal cargo location are used to determine the midpoint of the path planning, and the coordinates of the cargo handover interface are used to determine the ending point of the path planning.

[0137] The starting point, midpoint, and ending point of the path planning are mapped onto the track topology map to obtain the mapped starting point, midpoint, and ending point;

[0138] The shortest path is obtained by detecting the shortest path between the starting point, midpoint, and ending point of the mapping based on a pre-built graph search algorithm.

[0139] Furthermore, if the order requirement type is an inbound operation, the method of determining the current location coordinates of the nearest shuttle as the path planning start point, the coordinates of the goods delivery interface as the path planning midpoint, and the coordinates of the optimal storage location as the path planning end point means that for an inbound operation, the shuttle's path to the storage location is from its current location to the delivery interface to retrieve the goods, and then to the optimal storage location. Therefore, the current location coordinates of the shuttle, the path planning midpoint, and the optimal storage location are respectively set as the corresponding path planning start point, path planning midpoint, and path planning end point. The path planning start point, path planning midpoint, and path planning end point refer to the coordinates of the starting, middle, and ending positions when the shuttle retrieves or stores goods. If the order requirement type is an outbound operation, the method of determining the current location coordinates of the nearest shuttle as the path planning start point, the coordinates of the optimal storage location as the path planning midpoint, and the coordinates of the goods delivery interface as the path planning end point is similar to the above method and will not be elaborated here. The method of mapping the path planning start point, path planning midpoint, and path planning end point to the track topology map refers to converting the coordinates corresponding to the path planning start point, path planning midpoint, and path planning end point into nodes on the map according to the mapping relationship. The mapped start point, midpoint, and end point refer to the corresponding nodes on the track map. The method of detecting the shortest path for the mapped start point, mapped midpoint, and mapped end point based on a pre-constructed graph search algorithm refers to using a graph search algorithm to search for the shortest path from the start point to the midpoint and from the midpoint to the end point in segments. Optionally, the A* search algorithm can be used as the graph search algorithm. The shortest path refers to the track path with the smallest total distance.

[0140] It should be understood that the process of performing conflict detection on the shortest path based on the real-time path planning unit to obtain a conflict risk value includes:

[0141] The shortest path is analyzed based on the real-time path planning unit to obtain a path node sequence, wherein the path node sequence contains multiple path nodes.

[0142] Multiple arrival timestamps are calculated based on preset vehicle speed, preset reference time, and path node sequence, and a travel timetable is obtained based on the multiple arrival timestamps.

[0143] Multiple related shuttle vehicles are obtained, and multiple related travel timetables are obtained based on the multiple related shuttle vehicles. The multiple related travel timetables and travel timetables are compared and analyzed based on the real-time route planning unit to obtain multiple potential conflict points.

[0144] Perform the following operations on all potential conflict points among the plurality of potential conflict points:

[0145] Based on potential conflict points, potential conflict vehicles and related conflict schedules are identified. The remaining path length and the remaining related path length are calculated based on the potential conflict vehicles, the current location coordinates of the vehicles, and the potential conflict points. The first arrival time and the second arrival time are obtained based on the travel schedule, the related conflict schedule, and the potential conflict points.

[0146] The conflict risk value is calculated based on the remaining path length, the remaining related path length, the first arrival time, and the second arrival time, using the following formula:

[0147]

[0148] Among them, the Indicates the conflict risk value. Indicates the vehicle's speed. Indicates the speed of the relevant vehicles. Indicates the reference speed. Indicates the remaining path length. Indicates the length of the remaining related paths. Represents the global distance parameter. Indicates the first arrival time. Indicates the second arrival time. Represents a minimal constant. Represents an exponential function. This represents the time decay coefficient.

[0149] It should be explained that the method for path analysis of the shortest path refers to using a real-time path planning unit to decompose the shortest path into multiple path nodes, forming a path node sequence. The path node sequence refers to key points on the path, such as intersections, turns, and cargo locations. The multiple path nodes refer to each path node in the sequence. The method for calculating multiple arrival timestamps based on preset vehicle speed, preset reference time, and path node sequence refers to accumulating the timestamp of each node according to vehicle speed and distance between nodes. The multiple arrival timestamps refer to the estimated arrival time of each node. The preset vehicle speed refers to the standard speed of the shuttle, such as 1 m / s, and the preset reference time is the estimated start time for picking up goods. The travel timetable refers to the correspondence table between nodes and timestamps. The method for obtaining multiple related shuttles refers to querying other shuttles that may intersect, such as shuttles within a preset distance range near the nearest shuttle and whose operating status is busy. The multiple related shuttles refer to vehicles whose paths may overlap. The multiple related travel timetables refer to the travel timetables of related vehicles, which are similar to the method for obtaining the travel timetable and will not be elaborated here. The method for comparing and analyzing multiple relevant travel timetables and travel timetables refers to using the real-time path planning unit to compare timestamps, find the same arrival timestamp and the path node corresponding to that arrival timestamp, and the multiple potential conflict points refer to path nodes that may collide. The method for identifying potential conflict vehicles and related conflict timetables based on potential conflict points refers to identifying the shuttle that caused the conflict and its timetable. The method for calculating the remaining path length and remaining related path length based on the potential conflict vehicles, the current position coordinates of the vehicles, and the potential conflict points refers to first obtaining the current position coordinates of the potential conflict vehicles, then using the current position coordinates of the potential conflict vehicles to calculate the distance to the potential conflict point, and then using the current position coordinates of the vehicles to calculate the distance to the potential conflict point, and finally using the current position coordinates of the vehicles to calculate the remaining path length. The specific calculation method is similar to the method for calculating the actual reachable distance, and will not be elaborated here. The remaining path length and remaining related path length refer to the current position coordinates of the potential conflict vehicles and the distance from the current position coordinates of the vehicles to the conflict point, respectively. The first arrival time and the second arrival time are the times when the nearest shuttle and the potential conflict vehicle arrive at the conflict point, respectively. The conflict risk value refers to the quantified collision risk value calculated by the formula, and in the formula, The larger the value, the greater the kinetic energy of the potential collision vehicle and the nearest shuttle (the potential collision vehicle and the nearest shuttle have the same mass), and the more severe the consequences of the collision (i.e., the greater the risk). The smaller the distance, the smaller the gap between the two vehicles at the potential point of conflict, and the greater the likelihood of a collision. The smaller (i.e.) The larger the value, the more likely the two vehicles are to arrive at the potential conflict point simultaneously, increasing the probability of a collision. In summary, the higher the conflict risk value, the greater the likelihood and risk of a collision. The minimum constant refers to the smallest positive number to prevent the denominator from being zero; the default value is 0.01. The time decay coefficient is a preset coefficient used to adjust the influence of time difference; the default value is 1. The reference speed refers to the preset standard speed at which the vehicle travels.

[0150] S5. If the conflict risk value is greater than the preset risk threshold, then the optimal path planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain the optimal planned path.

[0151] Furthermore, if the conflict risk value is greater than a preset risk threshold, then based on the traffic prediction and avoidance unit and the nearest shuttle, optimal path planning is performed to obtain the optimal planned path, including:

[0152] If the conflict risk value is greater than the preset risk threshold, then the potential conflict point is confirmed as a conflict point;

[0153] Based on the conflict point, obtain the conflict point coordinates and conflict timestamp. Based on the traffic prediction and avoidance unit, conflict point coordinates and conflict timestamp, perform path replanning to obtain the planning result. The planning result is that there is one or more alternative paths or no alternative paths. If the planning result is that there is one or more alternative paths, calculate the estimated total travel time and update the conflict risk value for each alternative path. If the updated conflict risk value is lower than the risk threshold and the estimated total travel time is the minimum, then the corresponding alternative path is identified as the optimal planning path.

[0154] If the planning result indicates that there is no alternative path, the waiting time is obtained, and the waiting time is inserted before the conflict timestamp based on the shortest path to obtain the optimal planning path.

[0155] It should be explained that the method of confirming a potential conflict point as a conflict point if the conflict risk value is greater than a preset risk threshold means that when the calculated conflict risk value exceeds the preset risk threshold (e.g., 0.5), the potential conflict point is marked as a conflict point. A conflict point refers to a node on the path where a collision may occur, used to trigger an avoidance mechanism. The preset risk threshold refers to a preset risk value limit, with a default value of 0.5, which can be adjusted according to warehouse traffic density. The method of obtaining conflict point coordinates and conflict timestamps based on the conflict points refers to extracting the spatial coordinates and expected arrival timestamps of the conflict points from the path node sequence and travel timetable. The conflict point coordinates and conflict timestamps refer to the coordinates of the conflict node in the shuttle warehouse system and the corresponding timestamp in the travel timetable, respectively. The method for path replanning based on the traffic prediction and avoidance unit, conflict point coordinates, and conflict timestamps refers to using the traffic prediction and avoidance unit to search for one or more alternative paths that bypass the conflict point. The planning result refers to the result of the path replanning, which indicates the existence of one or more alternative paths or the absence of alternative paths. The alternative path refers to a feasible track route that avoids the conflict point. The traffic prediction and avoidance unit refers to a functional module that can predict and avoid conflicts when they exist on the shortest path. Optionally, the traffic prediction and avoidance unit can be constructed using the D* algorithm. If the planning result indicates the existence of one or more alternative paths, the method for calculating the estimated total travel time and updating the conflict risk value for each alternative path refers to estimating the total time based on the vehicle's operating speed for each alternative path and recalculating the conflict risk value. The estimated total travel time refers to the expected completion time of the alternative path, which can be calculated using the vehicle's operating speed and the distance of the alternative path. The updated conflict risk value refers to the conflict risk value calculated based on the alternative path, and the specific acquisition method is similar to the method for acquiring conflict risk values ​​described above, so the source will not be repeated. The method of confirming the corresponding alternative path as the optimal planning path if the updated conflict risk value is lower than a preset risk threshold and the estimated total travel time is minimum refers to selecting the path with the lowest risk threshold and the shortest estimated total travel time as the optimal planning path. The optimal planning path refers to the optimized path without conflict and with the shortest distance. If no alternative path exists, the method of obtaining the waiting time refers to calculating the minimum waiting time (e.g., 5-10 seconds) based on the conflict timestamp and the relevant vehicle passage time. The waiting time refers to the time spent pausing to avoid the conflict point. The method of inserting the waiting time before the conflict timestamp based on the shortest path to obtain the optimal planning path refers to inserting the waiting time before the conflict point corresponding to the shortest path, making the shortest path with the inserted waiting time the optimal path.

[0156] For example, two potential conflict points are detected on the shortest path. The risk values ​​of the two potential conflict points are 0.8 and 0.7, respectively, both greater than the risk threshold of 0.5. After confirming the two potential conflict points as conflict points, the conflict point coordinates (10,20) and (20,30) and conflict timestamps t1=30s and t2=40 are obtained. The traffic prediction and avoidance unit replans two alternative paths based on the conflict point coordinates and conflict timestamps of the two conflict points. The estimated total travel time is calculated to be 60s and 70s, respectively. The risk values ​​are updated to 0.3 and 0.4. The path with a risk of 0.3 and a time of 60s is selected as the optimal planning path. If there is no alternative, a waiting time of 5s is inserted before the conflict timestamps t1=30s and t2=40, so that the arrival timestamps of the shuttle passing through the two conflict points are postponed to 35s and 50s, respectively. The shortest path with the unchanged path but inserted waiting time is confirmed as the optimal planning path.

[0157] S6. Obtain the goods to be stored or retrieved, store or retrieve the goods to be stored or retrieved based on the optimal planned path, obtain the stored or retrieved goods, update the storage location information set based on the stored or retrieved goods, obtain the updated storage location information set, and realize four-way shuttle warehousing for the external order and storage warehouse based on the updated storage location information set.

[0158] It should be explained that the method of obtaining goods to be stored or retrieved refers to the following: if the demand type of the order item is an inbound operation, then external inbound goods are received at the goods exchange point as goods to be stored or retrieved. These goods refer to the batch of goods that need to be stored, used for shuttle transportation to the optimal storage location. If the demand type of the order item is an outbound operation, then goods are retrieved from the optimal storage location as goods to be stored or retrieved, used for transportation to the goods exchange point. The method of storing or retrieving the goods to be stored or retrieved based on the nearest shuttle and the optimal planned path refers to the nearest shuttle moving according to the optimal planned path, reaching the storage or retrieval point to perform a forklift or placement operation. These stored or retrieved goods refer to goods that have already been stored or retrieved, used to update inventory.

[0159] Furthermore, updating the storage location information set based on the stored and retrieved goods to obtain an updated storage location information set includes:

[0160] If the order requirement is an inbound operation, then the inbound time, type of goods, and quantity of goods are obtained based on the inbound and outbound goods, and the inbound storage location information is obtained based on the inbound time, type of goods, and quantity of goods.

[0161] If the order requirement type is outbound operation, then obtain the outbound storage location information based on the stored and retrieved goods;

[0162] The storage location information set is updated based on the inbound and outbound storage location information to obtain an updated storage location information set.

[0163] It should be understood that if the order requirement type is an inbound operation, the method for obtaining the inbound time, type, and quantity of goods based on the goods being stored and retrieved refers to recording the inbound completion timestamp as the inbound time, and extracting the type and quantity of goods being stored and retrieved from the order requirement. The inbound time, type, and quantity refer to the inbound time, type, and quantity of the goods, respectively. The method for obtaining inbound storage location information based on the inbound time, type, and quantity refers to updating the type of goods in the optimal storage location, increasing the inventory quantity, decreasing the remaining capacity, updating the most recent inbound time, and adjusting the storage and retrieval frequency. For example, if the order requirement type is an inbound operation, and the goods to be stored and retrieved (50 aluminum plates) are obtained, the shuttle retrieves the goods along the optimal path, and the storage location information is updated according to the stored and retrieved goods: the most recent inbound time becomes: 2025-01-01 10:00, the type of goods is "aluminum plate", the inventory quantity is updated by +50, the remaining capacity is decreased by 50, and the storage and retrieval frequency is increased by 1. The inbound storage location information refers to the updated storage location information after the goods are received. If the order demand type is an outbound operation, the method for obtaining outbound storage location information based on the stored and retrieved goods refers to reducing the inventory quantity, increasing the remaining capacity, and updating the storage and retrieval frequency (keeping the most recent inbound time unchanged). The outbound storage location information refers to the updated storage location information after the goods are retrieved. The method for updating the storage location information set based on the inbound and outbound storage location information refers to replacing the corresponding storage location information in the storage location information set. The updated storage location information set refers to a set of storage location information that is updated in real time and used for subsequent order processing and inventory management.

[0164] To address the problems described in the background art, this invention confirms the receipt of shuttle warehousing instructions and, based on these instructions, confirms the shuttle warehousing environment. This environment includes a shuttle warehousing system, a storage warehouse, and external orders. The shuttle warehousing system includes an inventory dynamic sensing unit, a real-time path planning unit, and a traffic prediction and avoidance unit. Therefore, this invention considers the complex requirements of warehouse dynamism and order real-time processing in four-way shuttle warehousing. By confirming the warehousing environment, it ensures modular system collaboration, providing a reliable foundation for subsequent dynamic storage and retrieval, thereby improving the overall responsiveness and adaptability of warehouse management. The invention also obtains storage locations based on the inventory dynamic sensing unit and the storage warehouse. The information set, wherein the storage location information set includes multiple storage location information, is used to parse external orders to obtain one or more order demand items. This invention introduces a dynamic sensing mechanism to achieve real-time acquisition of storage location information and fine-grained order parsing, avoiding the lag problem of traditional static inventory, and thus laying an accurate data foundation for demand matching. For each of the one or more order demand items, the following operations are performed: multiple target storage locations are obtained based on the order demand item and the storage location information set; a comprehensive score for multiple storage locations is calculated based on the multiple target storage locations; and the optimal storage location is obtained based on the comprehensive score. This invention selects the optimal storage location through comprehensive scoring, optimizes storage location allocation, and reduces invalid movement. This process improves warehouse space utilization and operational efficiency. Based on the order requirements, the storage and retrieval locations are determined, and the nearest shuttle is obtained. Route planning is performed based on the nearest shuttle and the optimal storage location to obtain the shortest path. The real-time route planning unit performs conflict detection on the shortest path to obtain a conflict risk value. Thus, this embodiment of the invention combines the nearest shuttle and real-time conflict detection to achieve initial path shortening and quantify risk, avoiding congestion caused by blind scheduling, thereby improving the operational reliability and safety of the shuttle. If the conflict risk value exceeds a preset risk threshold, optimal route planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain... The optimal planning path demonstrates how this invention introduces a predictive avoidance mechanism in high-risk situations, dynamically adjusting the path to ensure collision-free multi-vehicle collaboration, thereby reducing operational interruptions and delays. The process involves acquiring goods to be stored or retrieved, storing or retrieving these goods based on the optimal planning path, updating the storage location information set based on the retrieved goods, and finally achieving four-way shuttle warehousing for external orders and storage warehouses. This invention forms a closed-loop feedback loop through storage / retrieval execution and information updates, achieving real-time inventory synchronization. Furthermore, by dynamically optimizing the overall process through storage / retrieval, this invention improves the efficiency, accuracy, and intelligence of four-way shuttle warehousing.

[0165] like Figure 2The diagram shown is a functional block diagram of a four-way shuttle warehouse system based on dynamic access provided in an embodiment of the present invention.

[0166] The four-way shuttle storage system 100 based on dynamic access described in this invention can be installed in an electronic device. Depending on the functions implemented, the four-way shuttle storage system 100 may include an environment verification module 101, an intelligent location selection module 102, a scheduling and planning module 103, and a task execution module 104. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and is stored in the memory of the electronic device.

[0167] The environment confirmation module 101 is used to confirm the receipt of shuttle storage instructions and confirm the shuttle storage environment based on the shuttle storage instructions. The shuttle storage environment includes a shuttle storage system, a storage warehouse and external orders. The shuttle storage system includes an inventory dynamic perception unit, a real-time path planning unit and a traffic prediction and avoidance unit.

[0168] Based on the aforementioned inventory dynamic sensing unit and storage warehouse, a set of storage location information is obtained, wherein the set of storage location information includes multiple storage location information items. External orders are parsed to obtain one or more order demand items.

[0169] The intelligent position selection module 102 is used to perform the following operation on each of the one or more order requirement items:

[0170] Based on the order requirements and the location information set, multiple target locations are obtained, a comprehensive score for multiple locations is calculated based on the multiple target locations, and the optimal location is obtained based on the comprehensive score for multiple locations.

[0171] The scheduling and planning module 103 is used to determine the storage and retrieval location based on the order demand item, obtain the nearest shuttle based on the storage and retrieval location, perform path planning based on the nearest shuttle and the optimal storage location to obtain the shortest path, and perform conflict detection on the shortest path based on the real-time path planning unit to obtain a conflict risk value.

[0172] If the conflict risk value is greater than the preset risk threshold, then the optimal path planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain the optimal planned path.

[0173] The task execution module 104 is used to acquire goods to be stored or retrieved, store or retrieve the goods to be stored or retrieved based on the optimal planned path, obtain the stored or retrieved goods, update the storage location information set based on the stored or retrieved goods, obtain an updated storage location information set, and realize four-way shuttle warehousing for the external orders and storage warehouse based on the updated storage location information set.

[0174] In detail, the modules in the four-way shuttle storage system 100 based on dynamic access described in this embodiment of the invention employ the same methods as described above. Figure 1 The method uses the same technical means as the four-way shuttle storage method based on dynamic access described in the article, and can produce the same technical effect, so it will not be repeated here.

[0175] like Figure 3 The diagram shown is a structural schematic of an electronic device for implementing a four-way shuttle storage method based on dynamic access, according to an embodiment of the present invention.

[0176] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a four-way shuttle storage method program based on dynamic access.

[0177] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as the portable hard drive of the electronic device 1. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of a four-way shuttle warehousing method program based on dynamic access, but also to temporarily store data that has been output or will be output.

[0178] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., a four-way shuttle warehousing method program based on dynamic access) and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0179] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.

[0180] Figure 3 Only electronic devices with components are shown; it will be understood by those skilled in the art that... Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0181] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0182] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the electronic device 1 and other electronic devices.

[0183] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), and optionally, a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.

[0184] The four-way shuttle storage method program based on dynamic access stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When run in the processor 10, it can achieve the following:

[0185] Confirm receipt of shuttle storage instruction, confirm shuttle storage environment based on shuttle storage instruction, wherein the shuttle storage environment includes shuttle storage system, storage warehouse and external order, and shuttle storage system includes inventory dynamic perception unit, real-time path planning unit and traffic prediction and avoidance unit;

[0186] Based on the aforementioned inventory dynamic sensing unit and storage warehouse, a set of storage location information is obtained, wherein the set of storage location information includes multiple storage location information items. External orders are parsed to obtain one or more order demand items.

[0187] For each of the one or more order requirement items, perform the following operation:

[0188] Based on the order requirements and the location information set, multiple target locations are obtained, a comprehensive score for multiple locations is calculated based on the multiple target locations, and the optimal location is obtained based on the comprehensive score for multiple locations.

[0189] Based on the order requirements, the storage and retrieval location is determined, and the nearest shuttle is obtained based on the storage and retrieval location. Path planning is performed based on the nearest shuttle and the optimal storage location to obtain the shortest path. Conflict detection is performed on the shortest path based on the real-time path planning unit to obtain a conflict risk value.

[0190] If the conflict risk value is greater than the preset risk threshold, then the optimal path planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain the optimal planned path.

[0191] The system acquires goods to be stored or retrieved, stores or retrieves the goods based on the optimal planned path, obtains the stored or retrieved goods, updates the storage location information set based on the stored or retrieved goods, obtains an updated storage location information set, and realizes four-way shuttle warehousing for the external orders and storage warehouse based on the updated storage location information set.

[0192] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 3 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0193] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0194] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following:

[0195] Confirm receipt of shuttle storage instruction, confirm shuttle storage environment based on shuttle storage instruction, wherein the shuttle storage environment includes shuttle storage system, storage warehouse and external order, and shuttle storage system includes inventory dynamic perception unit, real-time path planning unit and traffic prediction and avoidance unit;

[0196] Based on the aforementioned inventory dynamic sensing unit and storage warehouse, a set of storage location information is obtained, wherein the set of storage location information includes multiple storage location information items. External orders are parsed to obtain one or more order demand items.

[0197] For each of the one or more order requirement items, perform the following operation:

[0198] Based on the order requirements and the location information set, multiple target locations are obtained, a comprehensive score for multiple locations is calculated based on the multiple target locations, and the optimal location is obtained based on the comprehensive score for multiple locations.

[0199] Based on the order requirements, the storage and retrieval location is determined, and the nearest shuttle is obtained based on the storage and retrieval location. Path planning is performed based on the nearest shuttle and the optimal storage location to obtain the shortest path. Conflict detection is performed on the shortest path based on the real-time path planning unit to obtain a conflict risk value.

[0200] If the conflict risk value is greater than the preset risk threshold, then the optimal path planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain the optimal planned path.

[0201] The system acquires goods to be stored or retrieved, stores or retrieves the goods based on the optimal planned path, obtains the stored or retrieved goods, updates the storage location information set based on the stored or retrieved goods, obtains an updated storage location information set, and realizes four-way shuttle warehousing for the external orders and storage warehouse based on the updated storage location information set.

[0202] In the embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and actual implementations may have other classification methods.

[0203] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0204] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0205] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0206] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A four-way shuttle storage method based on dynamic access, characterized in that, The method includes: Confirm receipt of shuttle storage instruction, confirm shuttle storage environment based on shuttle storage instruction, wherein the shuttle storage environment includes shuttle storage system, storage warehouse and external order, and shuttle storage system includes inventory dynamic perception unit, real-time path planning unit and traffic prediction and avoidance unit; Based on the aforementioned inventory dynamic sensing unit and storage warehouse, a set of storage location information is obtained, wherein the set of storage location information includes multiple storage location information items. External orders are parsed to obtain one or more order demand items. For each of the one or more order requirement items, perform the following operation: Based on the order requirements and the location information set, multiple target locations are obtained, a comprehensive score for multiple locations is calculated based on the multiple target locations, and the optimal location is obtained based on the comprehensive score for multiple locations. Based on the order requirements, the storage and retrieval location is determined, and the nearest shuttle is obtained based on the storage and retrieval location. Path planning is performed based on the nearest shuttle and the optimal storage location to obtain the shortest path. Conflict detection is performed on the shortest path based on the real-time path planning unit to obtain a conflict risk value. If the conflict risk value is greater than the preset risk threshold, then the optimal path planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain the optimal planned path. The system acquires goods to be stored or retrieved, stores or retrieves the goods based on the optimal planned path, obtains the stored or retrieved goods, updates the storage location information set based on the stored or retrieved goods, obtains an updated storage location information set, and realizes four-way shuttle warehousing for the external orders and storage warehouse based on the updated storage location information set.

2. The four-way shuttle storage method based on dynamic access as described in claim 1, characterized in that, The acquisition of the location information set based on the inventory dynamic sensing unit and the storage warehouse includes: Based on the inventory dynamic sensing unit, the storage warehouse is polled and scanned to obtain multiple storage locations; Real-time status queries are performed on the multiple storage locations to obtain multiple storage location information, wherein the storage location information includes storage location coordinates, goods type, inventory quantity, remaining capacity, most recent inbound time, and storage and retrieval frequency; By summarizing the information from the multiple storage locations, a storage location information set is obtained.

3. The four-way shuttle warehousing method based on dynamic access as described in claim 2, characterized in that, The process of parsing external orders yields one or more order requirement items, including: The external order is subjected to text recognition to obtain the external order text; Based on the pre-built keyword recognition unit, the external order text is used to perform keyword recognition to obtain multiple demand types, wherein the demand type is an inbound operation or an outbound operation; If the demand type is an inbound operation, then the quantity and type of inbound goods are obtained based on the external order text. If the demand type is an outbound operation, then obtain the quantity and type of outbound goods; By integrating the multiple demand types, inbound goods quantity, outbound goods quantity, inbound goods type, and outbound goods type, one or more order demand items are obtained.

4. The four-way shuttle warehousing method based on dynamic access as described in claim 3, characterized in that, The process of obtaining multiple target storage locations based on the order demand items and storage location information set, and calculating a comprehensive score for multiple storage locations based on the multiple target storage locations, includes: Based on the outbound or inbound goods type, a comparison query is performed in the storage location information set. If the outbound or inbound goods type is the same as the goods type in the storage location information, the storage location corresponding to the storage location information is confirmed as a candidate storage location. If the demand type is an outbound operation, then compare the inventory quantity and the outbound goods quantity corresponding to the candidate storage location. If the inventory quantity is greater than the outbound goods quantity, then confirm the candidate storage location as the outbound target storage location. If the demand type is an inbound operation, then compare the remaining capacity of the candidate storage location with the quantity of goods to be inbound. If the quantity of goods to be inbound is less than the remaining capacity, then confirm the candidate storage location as the target storage location for inbound. By summing up the target outbound or inbound storage locations, multiple target storage locations are obtained. For each of the plurality of target storage locations, the following operation shall be performed: Based on the location information corresponding to the target location, obtain the inventory quantity, most recent inbound time, historical storage and retrieval frequency, and location coordinates; The physical distance is calculated based on the coordinates of the storage location and the preset coordinates of the warehouse entrance and exit. The normalized distance ratio is calculated based on the physical distance and the preset global distance parameter of the warehouse. If the order requirement is for an inbound operation, the overall location score is calculated based on the normalized distance ratio, inventory quantity, most recent inbound time, and historical access frequency. in, This indicates the overall score for the cargo location. Indicates the quantity of inventory. Indicates the maximum capacity of the storage space. Indicates the current system time. Indicates the most recent entry time. Indicates standard time. Indicates the frequency of historical accesses. Represents the normalized distance ratio. , , and Indicates the weighting coefficient for inbound inventory; If the order requirement is an outbound operation, the comprehensive location score is calculated based on the normalized distance ratio, inventory quantity, most recent inbound time, and historical access frequency. in, , , and These represent the outbound weighting coefficients, respectively. By summing up the comprehensive scores of the aforementioned storage locations, multiple comprehensive scores for each storage location are obtained.

5. The four-way shuttle storage method based on dynamic access as described in claim 4, characterized in that, The step of determining the access location based on the order requirement and obtaining the nearest shuttle based on the access location includes: If the demand type of the order demand item is an inbound operation, then the preset goods delivery interface coordinates will be confirmed as the storage and retrieval location. If the demand type of the order demand item is an outbound operation, then the storage and retrieval location corresponding to the optimal storage location will be confirmed. Obtain multiple shuttle cars, and perform the following operation on each of the multiple shuttle cars: The shuttle storage system performs real-time status detection on the shuttle to obtain the current location coordinates and operating status of the vehicle, wherein the operating status includes busy or idle. If the operation status is idle, then the shuttle car is confirmed as a candidate shuttle car; The actual reachable distance is calculated based on the pre-built track topology map, the current vehicle position coordinates and access positions of the candidate shuttles; The actual reachable distances of the candidate shuttles are sorted in ascending order, and the candidate shuttle with the smallest actual reachable distance is selected as the nearest shuttle.

6. The four-way shuttle warehousing method based on dynamic access as described in claim 5, characterized in that, The process of route planning based on the nearest shuttle and the optimal cargo location to obtain the shortest path includes: If the order requirement is an inbound operation, then the current location coordinates of the vehicle corresponding to the nearest shuttle are determined as the starting point of the path planning, the coordinates of the cargo handover interface are determined as the midpoint of the path planning, and the coordinates of the cargo location corresponding to the optimal cargo location are determined as the ending point of the path planning. If the order demand type is outbound operation, then the current location coordinates of the vehicle corresponding to the nearest shuttle are used to determine the starting point of the path planning, the coordinates of the cargo location corresponding to the optimal cargo location are used to determine the midpoint of the path planning, and the coordinates of the cargo handover interface are used to determine the ending point of the path planning. The starting point, midpoint, and ending point of the path planning are mapped onto the track topology map to obtain the mapped starting point, midpoint, and ending point; The shortest path is obtained by detecting the shortest path between the starting point, midpoint, and ending point of the mapping based on a pre-built graph search algorithm.

7. The four-way shuttle warehousing method based on dynamic access as described in claim 6, characterized in that, The step of performing conflict detection on the shortest path based on the real-time path planning unit to obtain a conflict risk value includes: The shortest path is analyzed based on the real-time path planning unit to obtain a path node sequence, wherein the path node sequence contains multiple path nodes. Multiple arrival timestamps are calculated based on preset vehicle speed, preset reference time, and path node sequence, and a travel timetable is obtained based on the multiple arrival timestamps. Multiple related shuttle vehicles are obtained, and multiple related travel timetables are obtained based on the multiple related shuttle vehicles. The multiple related travel timetables and travel timetables are compared and analyzed based on the real-time route planning unit to obtain multiple potential conflict points. Perform the following operations on all potential conflict points among the plurality of potential conflict points: Based on potential conflict points, potential conflict vehicles and related conflict schedules are identified. The remaining path length and the remaining related path length are calculated based on the potential conflict vehicles, the current location coordinates of the vehicles, and the potential conflict points. The first arrival time and the second arrival time are obtained based on the travel schedule, the related conflict schedule, and the potential conflict points. The conflict risk value is calculated based on the remaining path length, the remaining related path length, the first arrival time, and the second arrival time, using the following formula: Among them, the Indicates the conflict risk value. Indicates the vehicle's speed. Indicates the speed of the relevant vehicles. Indicates the reference speed. Indicates the remaining path length. Indicates the length of the remaining related paths. Represents the global distance parameter. Indicates the first arrival time. Indicates the second arrival time. Represents a minimal constant. Represents an exponential function. This represents the time decay coefficient.

8. The four-way shuttle warehousing method based on dynamic access as described in claim 7, characterized in that, If the conflict risk value is greater than a preset risk threshold, then based on the traffic prediction and avoidance unit and the nearest shuttle, optimal path planning is performed to obtain the optimal planned path, including: If the conflict risk value is greater than the preset risk threshold, then the potential conflict point is confirmed as a conflict point; Based on the conflict point, obtain the conflict point coordinates and conflict timestamp. Based on the traffic prediction and avoidance unit, conflict point coordinates and conflict timestamp, perform path replanning to obtain the planning result. The planning result is that there is one or more alternative paths or no alternative paths. If the planning result is that there is one or more alternative paths, calculate the estimated total travel time and update the conflict risk value for each alternative path. If the updated conflict risk value is lower than the risk threshold and the estimated total travel time is the minimum, then the corresponding alternative path is identified as the optimal planning path. If the planning result indicates that there is no alternative path, the waiting time is obtained, and the waiting time is inserted before the conflict timestamp based on the shortest path to obtain the optimal planning path.

9. The four-way shuttle warehousing method based on dynamic access as described in claim 8, characterized in that, The step of updating the storage location information set based on the stored and retrieved goods to obtain an updated storage location information set includes: If the order requirement is an inbound operation, then the inbound time, type of goods, and quantity of goods are obtained based on the inbound and outbound goods, and the inbound storage location information is obtained based on the inbound time, type of goods, and quantity of goods. If the order requirement type is outbound operation, then obtain the outbound storage location information based on the stored and retrieved goods; The storage location information set is updated based on the inbound and outbound storage location information to obtain an updated storage location information set.

10. A four-way shuttle storage system based on dynamic access, characterized in that, The device includes: The environment confirmation module is used to confirm the receipt of shuttle storage instructions and confirm the shuttle storage environment based on the shuttle storage instructions. The shuttle storage environment includes the shuttle storage system, the storage warehouse and external orders. The shuttle storage system includes an inventory dynamic perception unit, a real-time path planning unit and a traffic prediction and avoidance unit. Based on the aforementioned inventory dynamic sensing unit and storage warehouse, a set of storage location information is obtained, wherein the set of storage location information includes multiple storage location information items. External orders are parsed to obtain one or more order demand items. The intelligent selection module is used to perform the following operation on each of the one or more order requirement items: Based on the order requirements and the location information set, multiple target locations are obtained, a comprehensive score for multiple locations is calculated based on the multiple target locations, and the optimal location is obtained based on the comprehensive score for multiple locations. The scheduling and planning module is used to determine the storage and retrieval location based on the order demand item, obtain the nearest shuttle based on the storage and retrieval location, perform path planning based on the nearest shuttle and the optimal storage location to obtain the shortest path, and perform conflict detection on the shortest path based on the real-time path planning unit to obtain a conflict risk value. If the conflict risk value is greater than the preset risk threshold, then the optimal path planning is performed based on the traffic prediction and avoidance unit and the nearest shuttle to obtain the optimal planned path. The task execution module is used to acquire goods to be stored or retrieved, store or retrieve the goods based on the optimal planned path, obtain the stored or retrieved goods, update the storage location information set based on the stored or retrieved goods, obtain an updated storage location information set, and realize four-way shuttle warehousing for the external orders and storage warehouse based on the updated storage location information set.

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